Yaskawa MP920 User's Manual Design - Manual (Page 50)

2 MP920 Specifications and System Configuration
2.1.3 Function Lists
2-24
„ PLC Function Specifications
Table 2.22 lists the PLC function specifications.
Commands Axis Move Commands: 8 commands
MOV, MVS, MCW, MCC, ZRN, SKP, MVT, EXM
Basic Control Commands: 6 commands
ABS, INC, POS, PLN, MVM, PLD
Speed and Acceleration/Deceleration Commands: 8 commands
ACC, DCC, SCC, VEL, IAC, IDC, IFP, FMX
High-level Control Commands: 4 commands
PFN, INP, SNG, UFC
Control Commands: 10 commands
MSEE, TIM, IOW, END, RET, EOX, IF ELSE IEND, WHILE
WEND, PFORK JOINTO PJOINT, SFORK JOINTO SJOINT
Math and Sequence Control Commands: 36 commands
=, +, -, *, /, MOD, |, ^, &, !, (), S{}, R{}, SIN, COS, TAN,
ASN, ACS, ATN, SQRT, BIN, BCD, = =, < >, >, <, >=, <=,
SFR, SFL, BLK, CLR
Table 2.21 MP920 Motion Control Function Specifications (cont’d)
Item Specification
Table 2.22 PLC Function Specifications
Item Specifications
Program Capacity Equivalent to 4 Ksteps (varies according to amount of motion program used; 20 Ksteps max.)
Control Method Sequence: High-speed and low-speed scan methods
Programming
Language CP language
Ladder logic diagram: Relay circuit
Text-type language: Numeric operations, logic operations, etc.
Scanning Two scan levels: High-speed scan and low-speed scan
High-speed scan time setting: 0.4 to 300 ms (0.1 ms units)
Low-speed scan time setting: 1.0 to 300 ms (0.1 ms units)
User Drawings,
Functions and
Motion Programs Start drawings (DWG.A): 64 drawings max. Up to three hierarchical drawing levels
High-speed scan process drawings (DWG.H):200 drawings max. Up to three hierarchical drawing levels
Low-speed scan process drawings (DWG.L): 500 drawings max. Up to three hierarchical drawing levels
Interrupt processing drawings (DWG.I):
64 drawings max. Up to three hierarchical drawing levels
Number of steps: Up to 500 steps per drawing
User functions: Up to 500 functions
Motion programs: Up to 256
Revision history of drawings and motion programs
Security function for drawings and motion programs
Data Memory Common data (M) registers: 32 kwords
System (S) registers: 1 kwords
Drawing local (D) registers: Up to 16 kwords per drawing
Drawing constant (#) registers: Up to 16 kwords per drawing
Input (I) registers:
5 kwords (including internal input registers)
Output (O) registers: 5 kwords (including internal output registers)
Constant (C) registers: 16 kwords
Trace Memory Data trace: 128 kwords (32 kwords × 4 groups), 16 points defined
Failure trace: 4 kwords, 64 items defined
Memory Backup Program memory: CMOS battery backup